text: /*
   * Software License Agreement (BSD License)
   *
   * Copyright (c) 2013, The University of Texas at Dallas
   * All rights reserved.
   * 
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *     * Redistributions of source code must retain the above copyright
   *       notice, this list of conditions and the following disclaimer.
   *     * Redistributions in binary form must reproduce the above copyright
   *       notice, this list of conditions and the following disclaimer in the
   *       documentation and/or other materials provided with the distribution.
   *     * Neither the name of The University of Texas at Dallas nor the
   *       names of its contributors may be used to endorse or promote products
   *       derived from this software without specific prior written permission.
   * 
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
   * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
   * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
   * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
   * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
   * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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   * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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   */
   
  /*
   * Filename: ViconRobot.h
   * 
   * Description: This file contains the abstract base class for converting marker maps
   * to translation and orientation
   * 
   * Log
   * ----
   * 2013-09-14 File created by Hazen Eckert
   *
   */
  
  #ifndef __ViconRobot_H__
  #define __ViconRobot_H__
  
  // Library includes
  #include <map>
  #include <Eigen/Core>
  #include <Eigen/Geometry>
  
  /*
   * Class: ViconRobot
   * 
   * Description: Abstract base class for converting marker maps to translation and 
   * orientation
   * 
   * Attributes
   * ----------
   * translation - postion of the robot in the global frame
   * orientation - orientation of the robot in the global frame
   * 
   */
  
  class ViconRobot
  {
  public:
  
  	/*
  	 * Method: getTranslation()
  	 * 
  	 * Description: Get the translation of the robot
  	 *
  	 * Return Value: Eigen::Vector3d: translation of the robot
  	 * 
  	 */
  	virtual Eigen::Vector3d getTranslation() = 0;
  	
  	/*
  	 * Method: getOrientation()
  	 * 
  	 * Description: Get the orientation of the robot
  	 * 
  	 * Return Value: Eigen::Quaterniond: orientation of the robot
  	 * 
  	 */
  	virtual Eigen::Quaterniond getOrientation() = 0;
  
  protected:
  	Eigen::Vector3d translation;
  	Eigen::Quaterniond orientation;
  	
  	ViconRobot(std::map<std::string, Eigen::Vector3d> markers){}
  };
  
  #endif
  
  